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@UM-ARM-Lab

The Autonomous Robotic Manipulation Lab

The Autonomous Robotic Manipulation Lab studies motion planning, manipulation, and human-robot collaboration.

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  1. sdf_tools sdf_tools Public

    Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types…

    C++ 247 40

  2. pytorch_mppi pytorch_mppi Public

    Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

    Python 681 71

  3. pytorch_kinematics pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    Python 773 69

  4. pytorch_volumetric pytorch_volumetric Public

    Volumetric structures such as voxels and SDFs implemented in pytorch

    Python 189 15

  5. arm_pytorch_utilities arm_pytorch_utilities Public

    Utilities for working with pytorch

    Python 7 1

  6. cdcpd cdcpd Public

    Library for Constrained Deformable Coherent Point Drift

    C++ 34 15

Repositories

Showing 10 of 167 repositories
  • rl_games_cotrain Public Forked from Denys88/rl_games

    RL implementations with co-training

    UM-ARM-Lab/rl_games_cotrain’s past year of commit activity
    Jupyter Notebook 0 MIT 205 0 0 Updated Mar 20, 2026
  • IsaacLabTactile Public Forked from isaac-sim/IsaacLab

    Unified framework for robot learning built on NVIDIA Isaac Sim

    UM-ARM-Lab/IsaacLabTactile’s past year of commit activity
    Python 5 BSD-3-Clause 3,258 0 0 Updated Mar 20, 2026
  • claps Public
    UM-ARM-Lab/claps’s past year of commit activity
    HTML 0 0 0 0 Updated Mar 16, 2026
  • claps_code Public
    UM-ARM-Lab/claps_code’s past year of commit activity
    Python 1 0 0 0 Updated Mar 16, 2026
  • pytorch_kinematics Public

    Robot kinematics implemented in pytorch

    UM-ARM-Lab/pytorch_kinematics’s past year of commit activity
    Python 773 MIT 69 6 (2 issues need help) 3 Updated Mar 16, 2026
  • pytorch_mppi Public

    Model Predictive Path Integral (MPPI) with approximate dynamics implemented in pytorch

    UM-ARM-Lab/pytorch_mppi’s past year of commit activity
    Python 681 MIT 71 3 0 Updated Mar 15, 2026
  • pybullet_planning Public Forked from zt-yang/pybullet_planning

    Tools for task-and-motion planning in PyBullet with robots such as PR2, Movo, Kuka

    UM-ARM-Lab/pybullet_planning’s past year of commit activity
    Jupyter Notebook 0 MIT 139 0 0 Updated Mar 15, 2026
  • kitchen-worlds Public Forked from Learning-and-Intelligent-Systems/kitchen-worlds

    A library of long-horizon Task-and-Motion-Planning (TAMP) problems in kitchen and household scenes, as well as planners to solve them

    UM-ARM-Lab/kitchen-worlds’s past year of commit activity
    Jupyter Notebook 0 MIT 33 0 0 Updated Mar 15, 2026
  • arm_pytorch_utilities Public

    Utilities for working with pytorch

    UM-ARM-Lab/arm_pytorch_utilities’s past year of commit activity
    Python 7 MIT 1 0 0 Updated Mar 10, 2026
  • lucca Public
    UM-ARM-Lab/lucca’s past year of commit activity
    HTML 1 0 0 0 Updated Mar 4, 2026
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